#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>

#include <ros/ros.h>
#include <iostream>
#include "ros/ros.h"
#include<geometry_msgs/Twist.h>


#include "../include/xf_asr/qisr.h"
#include "../include/xf_asr/msp_cmn.h"
#include "../include/xf_asr/msp_errors.h"


char* recognize();